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Guilhem Saurel
hpp-rbprm-corba
Commits
31d3c8cb
Commit
31d3c8cb
authored
Jul 17, 2019
by
stevet
Browse files
fixed anymal slalom scripts + start state in rbprmFullBody
parent
71c7044f
Changes
1
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Inline
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src/hpp/corbaserver/rbprm/rbprmfullbody.py
View file @
31d3c8cb
...
...
@@ -285,7 +285,7 @@ class FullBody (Robot):
num_max_sample
=
1
for
(
limbName
,
normal
)
in
zip
(
contacts
,
normals
):
p
=
cl
.
getEffectorPosition
(
limbName
,
configuration
)[
0
]
cl
.
addNewContact
(
sId
,
limbName
,
p
,
normal
,
num_max_sample
,
Fals
e
)
cl
.
addNewContact
(
sId
,
limbName
,
p
,
normal
,
num_max_sample
,
Tru
e
)
return
cl
.
setStartStateId
(
sId
)
...
...
@@ -303,7 +303,7 @@ class FullBody (Robot):
num_max_sample
=
1
for
(
limbName
,
normal
)
in
zip
(
contacts
,
normals
):
p
=
cl
.
getEffectorPosition
(
limbName
,
configuration
)[
0
]
cl
.
addNewContact
(
sId
,
limbName
,
p
,
normal
,
num_max_sample
,
Fals
e
)
cl
.
addNewContact
(
sId
,
limbName
,
p
,
normal
,
num_max_sample
,
Tru
e
)
return
cl
.
setEndStateId
(
sId
)
## Initialize the first state of the path interpolation
...
...
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